d4c.h

/* 
 * Copyright (C) 2013 iCub Facility - Istituto Italiano di Tecnologia
 * Authors: Ilaria Gori, Ugo Pattacini
 * email:  ilaria.gori@iit.it, ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/

#ifndef __D4C_H__
#define __D4C_H__

#include <deque>

#include <yarp/os/all.h>
#include <yarp/sig/all.h>

#define D4C_DEFAULT_MAXITERATIONS       1000
#define D4C_DEFAULT_TS_DISABLED         0.0

namespace iCub
{

namespace d4c
{

class D4C
{
public:
    virtual bool open(const yarp::os::Property &options) = 0;

    virtual void close() = 0;

    virtual bool addItem(const yarp::os::Property &options, int &item) = 0;

    virtual bool eraseItem(const int item) = 0;

    virtual bool clearItems() = 0;

    virtual bool getItems(yarp::os::Bottle &items) = 0;

    virtual bool setProperty(const int item, const yarp::os::Property &options) = 0;

    virtual bool getProperty(const int item, yarp::os::Property &options) = 0;

    virtual bool enableField() = 0;

    virtual bool disableField() = 0;

    virtual bool getFieldStatus(bool &status) = 0;

    virtual bool enableControl() = 0;

    virtual bool disableControl() = 0;

    virtual bool getControlStatus(bool &status) = 0;

    virtual bool enableSimulation() = 0;

    virtual bool disableSimulation() = 0;

    virtual bool getSimulationStatus(bool &status) = 0;

    virtual bool setPeriod(const int period) = 0;

    virtual bool getPeriod(int &period) = 0;

    virtual bool setPointStateToTool() = 0;

    virtual bool attachToolFrame(const yarp::sig::Vector &x, const yarp::sig::Vector &o) = 0;

    virtual bool getToolFrame(yarp::sig::Vector &x, yarp::sig::Vector &o) = 0;

    virtual bool removeToolFrame() = 0;

    virtual bool getTool(yarp::sig::Vector &x, yarp::sig::Vector &o) = 0;

    virtual bool setPointState(const yarp::sig::Vector &x, const yarp::sig::Vector &o,
                               const yarp::sig::Vector &xdot, const yarp::sig::Vector &odot) = 0;

    virtual bool setPointOrientation(const yarp::sig::Vector &o, const yarp::sig::Vector &odot) = 0;

    virtual bool getPointState(yarp::sig::Vector &x, yarp::sig::Vector &o,
                               yarp::sig::Vector &xdot, yarp::sig::Vector &odot) = 0;

    virtual bool getField(yarp::sig::Vector &field) = 0;

    virtual bool getSimulation(yarp::sig::Vector &xhat, yarp::sig::Vector &ohat,
                               yarp::sig::Vector &qhat) = 0;

    virtual bool getActiveIF(std::string &activeIF) = 0;

    virtual bool setActiveIF(const std::string &activeIF) = 0;

    virtual bool getTrajectory(std::deque<yarp::sig::Vector> &trajPos,
                               std::deque<yarp::sig::Vector> &trajOrien,
                               const unsigned int maxIterations=D4C_DEFAULT_MAXITERATIONS,
                               const double Ts=D4C_DEFAULT_TS_DISABLED) = 0;

    virtual bool executeTrajectory(const std::deque<yarp::sig::Vector> &trajPos,
                                   const std::deque<yarp::sig::Vector> &trajOrien,
                                   const double trajTime) = 0;

    virtual ~D4C() { }
};

}

}

#endif